Last modified by Eric Nantel on 2025/06/06 07:47
From version < 98.37 >
edited by Coleman Benson
on 2019/02/05 16:16
To version < 109.1 >
edited by Coleman Benson
on 2019/02/22 12:02
< >
Change comment: There is no comment for this version

Summary

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Content
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1 1  (% class="wikigeneratedid" id="HTableofContents" %)
2 -**Table of Contents**
2 +**Page Contents**
3 3  
4 4  {{toc depth="3"/}}
5 5  
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128 128  
129 129  = Command List =
130 130  
131 +== Regular ==
132 +
131 131  |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132 132  | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133 133  | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
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146 146  | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
147 147  | 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
148 148  | 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
149 -| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
151 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((
150 150  QSD: Add modifier "2" for instantaneous speed.
151 151  
152 152  SD overwrites SR / CSD overwrites CSR and vice-versa.
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181 181  == Advanced ==
182 182  
183 183  |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
184 -| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
186 +| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
185 185  | A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
186 186  | A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
187 187  | A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
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278 278  
279 279  Example: #5P2334<cr>
280 280  
281 -The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
283 +The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.
282 282  
283 283  Query Position in Pulse (**QP**)
284 284  
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456 456  
457 457  ====== __18. First Position (Pulse) (**FP**)__ ======
458 458  
459 -In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
461 +In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only. If a first position pulse is assigned, the servo will move to that angle and hold there for up to 2 seconds before going limp should a new pulse not be received.
460 460  
461 461  Query First Position in Pulses (**QFP**)
462 462  
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510 510  
511 511  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
512 512  
513 -|*Value returned|**Status**|**Detailed description**
514 -|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state
515 -|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
516 -|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
517 -|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
518 -|ex: *5Q4<cr>|Traveling|Moving at a stable speed
519 -|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
520 -|ex: *5Q6<cr>|Holding|Keeping current position
521 -|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
522 -|ex: *5Q8<cr>|Outside limits|{More details coming soon}
523 -|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
524 -|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
515 +|***Value returned (Q)**|**Status**|**Detailed description**
516 +|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
517 +|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
518 +|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
519 +|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
520 +|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
521 +|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
522 +|ex: *5Q6<cr>|6: Holding|Keeping current position
523 +|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
524 +|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
525 +|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
526 +|ex: *5Q10<cr>|10: Safe Mode|A safety limit has been exceeded (temperature, peak current or extended high current draw).
525 525  
528 +(% class="wikigeneratedid" %)
529 +If a safety limit has been reached, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
530 +
531 +|***Value returned (Q1)**|**Status**|**Detailed description**
532 +|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
533 +|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries
534 +|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
535 +
526 526  ====== __24. Query Voltage (**QV**)__ ======
527 527  
528 528  Ex: #5QV<cr> might return *5QV11200<cr>
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552 552  
553 553  EX: #5CRC2<cr>
554 554  
555 -This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands.
565 +This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command.
556 556  
567 +Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:Lynxmotion Smart Servo (LSS).LSS - Button Menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), ensuring a common GND and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe.
568 +
557 557  ====== __28. **RESET**__ ======
558 558  
559 559  Ex: #5RESET<cr> or #5RS<cr>
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648 648  
649 649  ====== __A6. Configure LED Blinking (**CLB**)__ ======
650 650  
651 -This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. Here is the list and their associated value:
663 +This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:
652 652  
653 653  (% style="width:195px" %)
654 654  |(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
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669 669  Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
670 670  Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
671 671  Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
684 +
685 +RESETTING the servo is needed.
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